WO2016158779A1

WO2016158779A1 - Shovel

Info

Publication number: WO2016158779A1
Application number: PCT/JP2016/059684
Authority: WO
Inventors: 泉川　岳哉
Original assignee: 住友建機株式会社
Priority date: 2015-03-27
Filing date: 2016-03-25
Publication date: 2016-10-06
Also published as: CN107407065A; US11015319B2; KR102488448B1; KR20170131484A; EP3276088A4; JPWO2016158779A1; EP4043643A1; US20210277624A1; EP3276088A1; JP6915000B2; JP6591531B2; EP3276088B1; US20180016768A1; JP2019173558A

Abstract

A shovel has: an arm that is pivotably fitted to a boom that is pivotably fitted to a revolving body; a bucket that is pivotably fitted to the arm; a tilt mechanism that supports the bucket so as to be tiltable relative to the arm; a bucket tilt angle sensor that detects the tilt angle of the bucket; and a tilt angle control unit that controls the adjustment of the tilt angle. The tilt angle control unit adjusts the tilt angle via automatic control such that the bucket line of the bucket becomes parallel to the digging target surface.

Description

Shovel

The present invention relates to a shovel having a bucket tilt mechanism.

An excavation control system has been proposed which performs excavation restriction control in which the blade edge position of a bucket of a shovel is automatically adjusted to move the blade edge of the bucket along a design surface (see, for example, Patent Document 1). In the shovel disclosed in the above-mentioned patent documents, the bucket rotation axis is a single rotation axis parallel to the road surface or the like on which the shovel is installed. Therefore, the blade edge of the bucket is always parallel to the road surface.

JP, 2013-217137, A

When excavating a slope (inclined surface) with a bucket, it is preferable to move the bucket obliquely upward or downward along the slope while always keeping the tip of the bucket parallel to the slope. In the above-mentioned excavation control system, when the longitudinal direction of the boom and the arm coincides with the vertical direction of the slope, the toe of the bucket is parallel to the slope. However, when the bucket is moved along the slope while turning the swing body on which the boom is attached, the longitudinal direction of the boom and the arm is inclined with respect to the vertical direction of the slope, and accordingly, the bucket A bucket line (for example, a toe line connecting both ends of a cutting edge (an example of a work area), a back line along an edge of a bucket back surface (an example of a work area, etc.) formed by the work area It is inclined. In this case, the surface excavated by the bucket is inclined with respect to the slope, and the excavated surface can not be accurately aligned with the target surface.

Then, an object of this invention is to provide the shovel which can control a bucket automatically so that a bucket line may always become parallel with respect to a target excavation surface irrespective of operation of the operator of a shovel.

In order to achieve the above object, according to one embodiment of the present invention, an arm pivotably attached to a boom pivotably attached to a pivoting body, and pivotably attached to the arm A bucket, a tilt mechanism for supporting the bucket so as to be able to tilt with respect to the arm, a bucket tilt angle sensor for detecting a tilt angle of the bucket, and a tilt angle control unit for controlling the adjustment of the tilt angle. A shovel is provided, wherein the tilt angle control unit automatically adjusts the tilt angle so that a bucket line of the bucket is parallel to a digging target surface.

According to the disclosed embodiment, the tilt angle of the bucket is automatically corrected during operation of the shovel such that the bucket line is always parallel to the inclined target surface. Thereby, for example, when the slope drilling operation is performed while turning the swing body, the bucket line is always automatically parallel to the slope, so that the accuracy of the digging surface can be improved.

1 is a side view of a shovel according to an embodiment of the present invention. It is a block diagram which shows the structure of the drive system of the shovel shown in FIG. It is a block diagram showing functional composition of a controller and a machine guidance device. It is a figure for demonstrating bucket tilt automatic control. It is a figure explaining the example of the excavation operation by a bucket. It is a figure explaining another example of excavation work by a bucket.

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a side view of a shovel according to one embodiment. The upper swing body 3 is mounted on the lower traveling body 1 of the shovel via the turning mechanism 2. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. As the end attachment, a slope bucket, a weir bucket or the like may be used.

The boom 4, the arm 5 and the bucket 6 constitute a digging attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be referred to as "posture sensor".

The bucket 6 is a so-called tilt bucket, and the bucket 6 can be rotated relative to the arm 5 in the direction perpendicular to the paper surface. Specifically, a tilt mechanism 60 is provided at a portion where the bucket 6 is attached to the arm 5. The tilt mechanism 60 has a pin 62 (tilt axis) rotatably supporting the bucket 6 and a tilt bucket cylinder 64 for rotating the bucket 6. By driving the tilt bucket cylinder 64, the bucket 6 can be pivoted around the pin 62. A bucket tilt angle sensor S5 is attached to the bucket 6. The bucket tilt angle sensor S5 is a sensor that detects the rotation angle of the bucket 6 around the tilt axis and outputs a detected value.

The boom angle sensor S1 detects a pivot angle of the boom 4. In the present embodiment, the boom angle sensor S <b> 1 is an acceleration sensor that detects an inclination with respect to a horizontal surface to detect a pivot angle of the boom 4 with respect to the upper swing body 3. The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S <b> 2 is an acceleration sensor that detects an inclination with respect to a horizontal surface and detects a rotation angle of the arm 5 with respect to the boom 4. The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the bucket 6 with respect to the arm 5. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor for detecting a stroke amount of a corresponding hydraulic cylinder, and a rotary encoder for detecting a rotation angle around a connecting pin Or the like.

A cabin 10 is provided on the upper revolving superstructure 3 and a power source such as an engine 11 is mounted. Further, a body inclination sensor S4 is attached to the upper swing body 3. The body inclination sensor S4 is a sensor that detects the inclination of the upper swing body 3 with respect to the horizontal plane. In the present embodiment, the vehicle body inclination sensor S4 is a two-axis acceleration sensor that detects the inclination angle of the upper swing body 3 in the front-rear direction and the left-right direction. The vehicle body inclination sensor S4 may be referred to as a "posture sensor".

In the cabin 10, an input device D1, an audio output device D2, a display device D3, a storage device D4, a gate lock lever D5, a controller 30, and a machine guidance device 50 are installed.

The controller 30 functions as a main control unit that performs drive control of the shovel. In the present embodiment, the controller 30 is configured by an arithmetic processing unit including a CPU and an internal memory. The various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

The machine guidance device 50 guides the operation of the shovel. In the present embodiment, the machine guidance device 50 visually and aurally informs the operator of, for example, the distance in the vertical direction between the surface of the target topography set by the operator and the tip (tip) position of the bucket 6. . Thus, the machine guidance device 50 guides the operation of the shovel by the operator. The machine guidance device 50 may only visually notify the operator of the distance, or may only audibly alert the operator. Specifically, the machine guidance device 50 is configured by an arithmetic processing unit including a CPU and an internal memory, as with the controller 30. The various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory. The machine guidance device 50 may be provided separately from the controller 30, or may be incorporated in the controller 30.

The input device D1 is a device for the operator of the shovel to input various information to the machine guidance device 50. In the present embodiment, the input device D1 is a membrane switch attached to the surface of the display device D3. A touch panel or the like may be used as the input device D1. The operator can input the excavation target surface using the input device D1. In addition, the operator can set a tilt control start surface which is a reference for starting automatic bucket tilt control described later by inputting the height from the digging target surface. As a result, the excavation target surface and the tilt control start surface are stored in the storage device D4 of the machine guidance device 50. In addition, at least one of the drilling target surface and the tilt control starting surface may be stored in the storage device D4 via communication.

The voice output device D2 outputs various voice information in response to a voice output command from the machine guidance device 50. In the present embodiment, an on-vehicle speaker directly connected to the machine guidance device 50 is used as the audio output device D2. An alarm device such as a buzzer may be used as the voice output device D2.

The display device D3 displays various types of image information in response to an instruction from the machine guidance device 50. In the present embodiment, an on-vehicle liquid crystal display directly connected to the machine guidance device 50 is used as the display device D3.

The storage device D4 is a device for storing various types of information. In the present embodiment, a non-volatile storage medium such as a semiconductor memory is used as the storage device D4. The storage device D4 stores various information output by the machine guidance device 50 and the like.

The gate lock lever D5 is a mechanism for preventing the shovel from being operated erroneously. In the present embodiment, the gate lock lever D5 is disposed between the door of the cabin 10 and the driver's seat. When the gate lock lever D5 is pulled up so that the operator can not leave the cabin 10, the various operating devices can be operated. On the other hand, when the gate lock lever D5 is pushed down so that the operator can leave the cabin 10, the various operating devices can not be operated.

FIG. 2 is a block diagram showing a configuration of a drive system of the shovel of FIG. In FIG. 2, the mechanical power system is indicated by a double wire, the high pressure hydraulic line by a thick solid line, the pilot line by a broken line, and the electric drive and control system by a thin solid line.

The engine 11 is a power source of a shovel. In the present embodiment, the engine 11 is a diesel engine that adopts isochronous control that maintains the engine rotation speed constant regardless of the increase or decrease in the engine load. The fuel injection amount, the fuel injection timing, the boost pressure and the like in the engine 11 are controlled by the engine controller D7.

The engine controller D7 is a device that controls the engine 11. In the present embodiment, the engine controller D7 executes various functions such as an auto idle function and an auto idle stop function.

The auto idle function is a function to reduce the engine speed from a normal speed (for example, 2000 rpm) to an idle speed (for example, 800 rpm) when a predetermined condition is satisfied. In the present embodiment, the engine controller D7 operates the auto idle function in response to the auto idle command from the controller 30 to reduce the engine speed to the idle speed.

The auto idle stop function is a function to stop the engine 11 when a predetermined condition is satisfied. In the present embodiment, the engine controller D7 operates the automatic idle stop function in response to the automatic idle stop command from the controller 30 to stop the engine 11.

A main pump 14 as a hydraulic pump and a pilot pump 15 are connected to the engine 11. A control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.

The control valve 17 is a hydraulic control device that controls the hydraulic system of the shovel. The hydraulic actuators such as the right side traveling hydraulic motor 1A, the left side traveling hydraulic motor 1B, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the turning hydraulic motor 21 and the tilt bucket cylinder 64 are control valves via high pressure hydraulic lines Connected to 17

An operating device 26 is connected to the pilot pump 15 via a pilot line 25 and a gate lock valve D6. Further, a control valve 17 is connected to the pilot pump 15 via a pilot line 25A and a switching valve D8. The operating device 26 includes a lever 26A, a lever 26B, a pedal 26C, and an automatic tilt switch 26D. In the present embodiment, the operating device 26 is connected to the control valve 17 via the hydraulic line 27. The hydraulic pressure line 27 is provided with a pressure reducing valve V1 controlled by the controller 30. Also, the operating device 26 is connected to the pressure sensor 29 via the hydraulic line 28.

The gate lock valve D6 switches communication / blocking of the pilot line 25 connecting the pilot pump 15 and the controller 26. In the present embodiment, the gate lock valve D6 is an electromagnetic valve that switches communication / disconnection of the pilot line 25 according to a command from the controller 30. The controller 30 determines the state of the gate lock lever D5 based on the state signal output from the gate lock lever D5. Then, when it is determined that the gate lock lever D5 is in the state of being pulled up, the controller 30 outputs a communication command to the gate lock valve D6. When the communication command is received, the gate lock valve D6 opens to bring the pilot line 25 into communication. As a result, the operation of the operator on the operation device 26 is effective. On the other hand, when the controller 30 determines that the gate lock lever D5 is in the state of being pulled down, it outputs a shutoff command to the gate lock valve D6. When receiving the shutoff command, the gate lock valve D6 is closed to shut off the pilot line 25. As a result, the operation of the operator on the operation device 26 is invalidated.

The switching valve D8 switches communication / blocking of the pilot line 25A connecting the pilot pump 15 and the control valve 17. In the present embodiment, the switching valve D8 is an electromagnetic proportional valve that switches communication / disconnection of the pilot line 25A according to a command from the controller 30. The controller 30 outputs a communication command to the switching valve D8 when starting the bucket tilt automatic control described later. When the communication command is received, the switching valve D8 is opened to connect the pilot line 25A, and automatic bucket tilt control is performed.

The pressure sensor 29 detects a pressure corresponding to the operation of the operating device 26. The pressure sensor 29 outputs a detected value to the controller 30.

Next, various functional elements provided in the controller 30 and the machine guidance device 50 will be described with reference to FIG. FIG. 3 is a functional block diagram showing the configuration of the controller 30 and the machine guidance device 50. As shown in FIG.

In the present embodiment, the controller 30 controls whether or not to perform guidance by the machine guidance device 50 in addition to control of the operation of the entire shovel. Specifically, the controller 30 determines whether the shovel is at rest based on the state of the gate lock lever D5, the detection signal from the pressure sensor 29, and the like. Then, when it is determined that the shovel is at rest, the controller 30 sends a guidance cancellation instruction to the machine guidance device 50 so as to cancel the guidance by the machine guidance device 50.

In addition, the controller 30 may output a guidance stop command to the machine guidance device 50 when outputting an auto idle stop command to the engine controller D7. Alternatively, the controller 30 may output a guidance stop instruction to the machine guidance device 50 when it is determined that the gate lock lever D5 is in the depressed state.

Next, the machine guidance device 50 will be described. In the present embodiment, the machine guidance device 50 outputs various signals output from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the bucket tilt angle sensor S5, the input device D1, and the controller 30. And or receive data. The machine guidance device 50 calculates the actual operating position of the attachment (for example, the bucket 6) based on the received signals and data. Then, when the actual operating position of the attachment is different from the target operating position, the machine guidance device 50 transmits an alarm command to the voice output device D2 and the display device D3 to issue an alarm. The machine guidance device 50 and the controller 30 are communicably connected to each other through a CAN (Controller Area Network).

The machine guidance device 50 includes functional units that perform various functions. In the present embodiment, the machine guidance device 50 functions as a functional unit for controlling the operation of the attachment, including a height calculation unit 510, a comparison unit 512, a tilt angle control unit 514, a guidance data output unit 516, and a tilt control start line. A setting unit 518 is included.

The height calculator 510 calculates the angles of the boom 4, the arm 5 and the bucket 6 calculated from the detection signals of the sensors S 1 to S 3 and the inclination angle of the upper swing body 3 calculated from the detection signals of the sensor S 4. Calculate the height of the tip (toe).

As described above, the guidance data output unit 516 reads the guidance data including the data on the drilling target surface stored in advance in the storage device of the machine guidance device 50, and outputs the guidance data to the tilt control start line setting unit 518. With this configuration, the operator can set an excavation target surface in advance using the input device D1.

The tilt control start line setting unit 518 sets a tilt control start line at a position at a predetermined distance from the excavation target line in the guidance data, and outputs the guidance data to the comparison unit 512.

The comparison unit 512 compares the height of the tip (tip) of the bucket 6 calculated by the height calculation unit 510 with the tilt control start line indicated by the guidance data output from the tilt control start line setting unit 518.

The tilt angle control unit 514 determines whether the work site (for example, the toe) of the bucket 6 is closer to the digging target line than the tilt control start line based on the comparison result of the comparing unit 512 (tilt control start line and digging target It is determined whether or not it is located between the lines. If it is determined that the work site of the bucket 6 is closer to the digging target line than the tilt control start line, the tilt angle control unit 514 controls the tilt angle of the bucket 6 to ) To be parallel to the drilling target surface. In addition, a bucket line is a line which a work site of bucket 6 forms, for example, a toe line connecting both ends of a blade edge (an example of a work site), a back line along an edge of a bucket back (an example of a work site) Etc. That is, the bucket line is a line connecting at least two points in the work area in contact with the excavation target surface. Specifically, the tilt angle control unit 514 calculates the angle deviation of the tilt angle of the current bucket 6 with respect to the excavation target surface using the detection signals of the sensors S1 to S4, and performs control so as to reduce the calculated angle deviation. A signal is sent to the controller 30. Thereby, the controller 30 performs automatic control so that the toe line of the bucket 6 becomes parallel to the digging target surface. Further, not only the sensors S1 to S4, but also a GNSS device or the like may be used to calculate the angle of the toe line of the bucket 6.

Here, although the example which made the working site | part of an attachment the tip (toe) of the bucket 6 was demonstrated, it is good also considering the arbitrary positions of the bucket 6 as a working site | part. For example, in the case of work performed using the back surface of the bucket 6, the back surface of the bucket 6 may be used as a work site.

Next, bucket tilt automatic control by the machine guidance device 50 will be described with reference to FIG. FIG. 4 is a view for explaining an example of the bucket tilt automatic control according to the present embodiment.

FIG. 4 shows control for making the toe line of the bucket 6 parallel to the slope (inclined surface). FIG. 4 shows a tilt control start line CL indicating a tilt control start surface serving as a reference for starting the bucket tilt automatic control at a position separated by a predetermined distance from the target line TL indicating the excavation target surface. The target line TL is a line on the excavation target surface corresponding to the toe line of the bucket 6. The tilt control start line CL is set in the guidance data by the tilt control start line setting unit 518 shown in FIG. 3 described above.

In the bucket tilt automatic control according to the present embodiment, when the bucket 6 is far from the digging target surface (corresponding to the target line TL in FIG. 4), the tilt angle of the bucket 6 is not automatically controlled and is shown by a dotted line in FIG. Thus, the toe line 6a of the bucket 6 is maintained horizontal. When the bucket 6 approaches the digging target surface and the tip of the bucket 6 reaches the tilt control start surface (tilt control start line CL in FIG. 4), automatic control of the tilt angle of the bucket 6 is started. When automatic control of the tilt angle is performed, the tilt angle is adjusted so that the toe line 6a of the bucket 6 becomes parallel to the target line TL. Whether or not the toe of the bucket 6 is in contact with the tilt control start surface (the tilt control start line CL in FIG. 4) is determined by the comparison unit 512 described above.

While the bucket 6 is positioned between the tilt control start surface (the tilt control start line CL in FIG. 4) and the excavation target surface (the target line TL in FIG. 4), the bucket 6 is received by a signal from the controller 30. Automatic bucket tilt control is continuously performed to make the toe line 6a parallel to the digging target surface. The bucket tilt automatic control is a control automatically performed by the machine guidance device 50, and the operator of the shovel does not manually adjust the tilt angle of the bucket 6. Therefore, the operator of the shovel can accurately align the toe line 6a of the bucket 6 with the digging target surface without adjusting the angle of the toe line 6a of the bucket 6 relative to the target surface at the time of the digging operation.

However, when working on the slope, if the operator operates the lever for turning, the toe line 6a of the bucket 6 will not be parallel to the digging target surface. The same applies to the case where the boom or the like is operated when the shovel is directed in a direction obliquely intersecting the slope. Therefore, when the position of the bucket 6 is lower than the tilt control start line CL, the operation of the hydraulic actuator to be operated is restricted even if the operator operates the swing operation or the boom, arm, bucket, etc. The angle between the toe line 6a and the drilling target surface is maintained at a predetermined angle or less. Specifically, when the angle between the toe line 6a of the bucket 6 and the digging target surface exceeds a predetermined angle, the pilot pressure is reduced by the pressure reducing valve V1. Thereby, it is possible to limit the speed of the turning operation or the operation of the boom, the arm, the bucket and the like.

When the digging operation is finished and the toe of the bucket 6 moves to the outside (upper side in FIG. 4) than the tilt control start surface (tilt control start line CL), the bucket tilt automatic control is released (disabled), The toe line 6a of the bucket 6 is horizontal as indicated by the dotted line in FIG. Thereby, when the soil is scooped up with the bucket 6, for example, the soil is prevented from spilling out of the bucket 6. The tilt angle of the bucket 6 after cancellation is determined in advance by the work content and the like. Also, in order to achieve this control, for example, the load applied to the bucket 6, the arm 5, or the boom 4 when the bucket 6 is inserted into the ground surface or when the soil is scooped by the bucket 6 is monitored. When the load is lower than a predetermined value, the toe line 6a of the bucket 6 may be leveled. Thus, according to the detected load, the bucket tilt automatic control may be canceled (disabled), and the toe line 6a of the bucket 6 may be made horizontal as shown by the dotted line in FIG. .

If the acceleration sensor is used as the bucket tilt angle sensor S5, it can be determined whether the toe line 6a of the bucket 6 is horizontal only from the detection signal of the bucket tilt angle sensor S5. When another angle sensor such as a rotary encoder is used as the bucket tilt angle sensor S5, the angle of the toe line 6a of the bucket 6 is obtained based on the output signals from the above-described sensors S1 to S4. It can be determined whether toe line 6a is horizontal or not.

The bucket tilt automatic control according to the present embodiment may be performed when the operator of the shovel wants to automatically adjust the bucket tilt angle. Therefore, as shown in FIG. 2, an automatic tilt switch 26D for inputting ON / OFF of the bucket tilt automatic control is attached to the tip of the lever 26A, 26B etc., and only while executing the bucket tilt automatic control The tilt switch 26D may be turned on. That is, only when there is a command from the operator, the communication command may be output to the switching valve D8 to enable automatic bucket tilt control. The automatic tilt switch 26D may be attached to the pedal 26C.

In addition, although the tilt control start line CL is used as the start reference of the bucket tilt automatic control in which the toe line 6a of the bucket 6 is parallel to the target line TL, the present invention is not limited thereto. For example, when the bucket 6 comes in contact with the ground surface (ground line GL in FIG. 4), the toe line 6a of the bucket 6 may be parallel to the target line TL.

Although the bucket tilt automatic control according to the present embodiment has been described as being executed by the machine guidance device 50, the machine guidance device 50 does not necessarily have to perform it. For example, if guidance data including the target line TL can be used, the controller 30 or another control device may perform it.

5A and 5B are diagrams for explaining an example of the digging operation by the bucket. FIG. 5A shows an example of a digging operation which is preferable to enable the bucket tilt automatic control according to the above-described embodiment. FIG. 5B shows an example of the digging operation performed when the bucket tilt automatic control according to the present embodiment is invalidated.

In FIG. 5A, the surface to be excavated by the bucket 6 is a slope, and the bucket is turned while the upper swing body 3 is pivoted so as to move the bucket 6 not only linearly along the slope but also in the lateral direction of the slope. Move 6 to dig the slope. In such an excavation operation, when the bucket 6 is in the position shown by the dotted line, the toe line 6a of the bucket 6 is parallel to the slope, but when the shovel is turned, the toe line 6a of the bucket 6 Inclination to the slope (this inclination is not shown in FIG. 5A because it is the inclination in the direction perpendicular to the paper surface). Therefore, the angular deviation of the tilt angle of the bucket 6 with respect to the target surface becomes large.

Therefore, if the bucket tilt automatic control according to the present embodiment is made effective, the operator simply moves the bucket 6 by operating the boom 4 and the arm 5, and the toe line 6a of the bucket 6 is automatically set on the slope. Adjusted to be parallel. Therefore, excavation is performed while the toe line 6a of the bucket 6 is always parallel to the slope, and the entire excavated surface becomes a plane parallel to the slope.

On the other hand, in order to invalidate the bucket tilt automatic control according to the present embodiment and perform the same digging operation, the operator must operate the boom 4 and the arm 5 to move the bucket 6 while adjusting the tilt angle of the bucket 6. You must. However, it is difficult to determine and adjust the tilt of the bucket 6 with respect to the slope. Therefore, for example, as shown in FIG. 5B, the operator performs the digging operation only by operating the arm 5 and the boom 4, and then slightly moves the shovel itself sideways without turning the upper swing body 3. After that, perform the next digging operation again. In this way, the operator can go digging without adjusting the tilt angle, but it is troublesome to carry out the digging operation while moving the shovel itself. On the other hand, if automatic bucket tilt control according to the present embodiment is made effective, excavation work on the slope can be performed accurately without moving the shovel. In addition, even when the shovel itself can not be moved to an appropriate work place due to the obstacle OB1 or the like (see FIG. 5A), if the bucket tilt automatic control according to the present embodiment is enabled, the upper swing body 3 is turned The tilt angle of the bucket 6 can be automatically adjusted while causing the toe line 6a of the bucket 6 to be parallel to the target line.

As described above, it is possible to always keep the toe line 6a of the bucket 6 parallel to the target surface for digging by performing the digging operation with the automatic bucket tilt control according to the present embodiment being effective. It can be done easily and accurately.

This international patent application claims its priority based on Japanese Patent Application No. 2015-067684 filed on March 27, 2015, and the entire contents of Japanese Patent Application No. 2015-067684 are hereby incorporated by reference. I will use it.

DESCRIPTION OF SYMBOLS 1 lower traveling body 2 swing mechanism 3 upper revolving body 4 boom 5 arm 6 bucket 7 boom cylinder 8 arm cylinder 9 bucket cylinder 10 cabin 11 engine 14 main pump 15 pilot pump 16 high pressure hydraulic line 17 control valve 26 operation device 29 pressure sensor 30 Controller 50 Machine guidance device 510 Height calculation unit 512 Comparison unit 514 Tilt angle control unit 516 Guidance data output unit 518 Tilt control start line setting unit S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Vehicle inclination sensor S5 Bucket tilt angle Sensor D1 Input device D2 Audio output device D3 Display device D4 Storage device D5 Gate lock lever D6 Gate lock valve D7 Engine Controller D8 switching valve

Claims

An arm pivotally attached to a boom pivotally attached to the pivoting body;
A bucket rotatably mounted on the arm;
A tilt mechanism for tiltably supporting the bucket with respect to the arm;
A bucket tilt angle sensor that detects a tilt angle of the bucket;
A tilt angle control unit that controls the adjustment of the tilt angle;
Have
The shovel, wherein the tilt angle control unit automatically adjusts the tilt angle so that a bucket line of the bucket is parallel to a digging target surface.
A shovel according to claim 1, wherein
The shovel, wherein the digging target surface can be preset by an operator.
A shovel according to claim 1, wherein
The shovel is a line connecting at least two points of a working site of the bucket.
The shovel according to any one of claims 1 to 3, wherein
Automatic control of the tilt angle is effective only when there is a command from the operator.
It is a shovel of Claim 4, Comprising:
The said instruction | command is performed by the switch attached to the operating device, The shovel.
The shovel according to any one of claims 1 to 5, wherein
The shovel, wherein the automatic control of the tilt angle is invalidated when the position of the work site of the bucket is separated from the excavation target surface by a predetermined distance or more.
The shovel according to any one of claims 1 to 6, wherein
When the position of the work site of the bucket is within a predetermined distance from the excavation target surface, the bucket line and the hydraulic actuator corresponding to each of the swing body, the boom, the arm, and the bucket are operated. The shovel, wherein the operation of the operated hydraulic actuator is restricted such that the angle with the excavation target surface is equal to or less than a predetermined angle.
The shovel according to any one of claims 1 to 7, wherein
The shovel, wherein the load applied to the bucket is detected, and the automatic control of the tilt angle is invalidated when the value representing the detected load is less than a predetermined value.
A shovel according to any one of claims 6 to 8, wherein
A shovel which makes the bucket line horizontal when automatic control of the tilt angle is invalidated.